| urdf_path: "./ur5_wsg_gripper.urdf" |
| srdf_path: "./ur5.srdf" |
| joint_stiffness: 1000 |
| joint_damping: 200 |
| gripper_stiffnes: 1000 |
| gripper_damping: 200 |
| move_group: ["ee_link","ee_link"] |
| ee_joints: ["ee_fixed_joint","ee_fixed_joint"] |
| arm_joints_name: [["shoulder_pan_joint" ,"shoulder_lift_joint" ,"elbow_joint" ,"wrist_1_joint", "wrist_2_joint", "wrist_3_joint"], |
| ["shoulder_pan_joint" ,"shoulder_lift_joint" ,"elbow_joint" ,"wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]] |
| |
| |
| gripper_name: |
| - base: "base_joint_gripper_left" |
| mimic: [["base_joint_gripper_right", -1., 0.]] |
| - base: "base_joint_gripper_left" |
| mimic: [["base_joint_gripper_right", -1., 0.]] |
| gripper_bias: 0.11 |
| gripper_scale: [0.01, -0.06] |
| homestate: [[-1.5447, -1.5447, -1.5447, -1.5794, 1.5794, 0], |
| [-1.5447, -1.5447, -1.5447, -1.5794, 1.5794, 0]] |
| delta_matrix: [[1,0,0],[0,1,0],[0,0,1]] |
| global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]] |
| robot_pose: [[0, -0.65, 0.65, 1, 0, 0, 0],[0, -0.65, 0.75, 1, 0, 0, 0]] |
| planner: "curobo" |
| dual_arm: False |
| fix_gripper_name: ["finger_left", "finger_right"] |
| static_camera_list: |
| - name: head_camera |
| position: |
| - -0.032 |
| - -0.45 |
| - 1.35 |
| forward: |
| - 0 |
| - 0.6 |
| - -0.8 |
| left: |
| - -1 |
| - 0 |
| - 0 |
